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AP_Camera/AP_Mount: support sending CAMERA_FOV_STATUS #25390

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merged 5 commits into from
Nov 2, 2023

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rmackay9
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This PR adds support for sending the CAMERA_FOV_STATUS messages to the GCS so that it knows the Lat, Lon, Alt of what the camera gimbal is pointing at.

This replaces PR #24657 but also includes these improvements:

  • The Location is only calculated if the message is to be sent to the GCS (e.g. the GCS has requested the message using message interval)
  • Fix to support the edge case where the Location's alt is below 0 AMSL (this is only possible in a few places but there's no need to have this restriction)

This (and the previous PR) have been well tested in SITL. Below is a screenshot of some testing I did to confirm that the Location returned in CAMERA_FOV_STATUS matched the Location from a do-set-ROI mission command.
randy-mnt-poi-test

tridge
tridge previously requested changes Oct 31, 2023
libraries/AP_Terrain/TerrainGCS.cpp Outdated Show resolved Hide resolved
@rmackay9 rmackay9 dismissed tridge’s stale review October 31, 2023 03:12

Txs for the review, fixed

@peterbarker peterbarker merged commit 6528394 into ArduPilot:master Nov 2, 2023
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@rmackay9 rmackay9 deleted the asif-mount-poi branch November 2, 2023 07:29
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4 participants